0db706011a
ekf2: move FlowSample update to UpdateFlowSample()
2020-11-11 20:17:52 -05:00
8ee197acad
ekf2: move vehicle_odometry_aligned publication to PublishOdometryAligned()
2020-11-11 20:17:52 -05:00
b29f3c7ce5
ekf2: move ExtVisionSample update to UpdateExtVisionSample()
2020-11-11 20:17:52 -05:00
0f56793116
ekf2: move BaroSample update to UpdateBaroSample()
2020-11-11 20:17:52 -05:00
6b30f01daf
ekf2: move AuxVelSample update to UpdateAuxVelSample()
2020-11-11 20:17:52 -05:00
651e292d42
ekf2: move AirspeedSample update to UpdateAirspeedSample()
2020-11-11 20:17:52 -05:00
f4f3ba47a2
ekf2: move mag calibration to UpdateMagCalibration()
2020-11-11 20:17:52 -05:00
96178a6fb0
ekf2: publish yaw estimator status last
2020-11-11 20:17:52 -05:00
05de61ff15
ekf2: move estimator innovations publication to method
2020-11-11 20:17:52 -05:00
387186c11d
ekf2: move estimator innovation test ratios publication to method
2020-11-11 20:17:52 -05:00
3b9965ff8d
ekf2: move estimator innovation variances publication to method
2020-11-11 20:17:52 -05:00
94415a45fa
ekf2: move estimator status publication to method
2020-11-11 20:17:52 -05:00
03388f4656
ekf2: move estimator states publication to method
2020-11-11 20:17:52 -05:00
98334d1325
ekf2: move local position publication to method
2020-11-11 20:17:52 -05:00
c09a5e0d9f
ekf2: move global position publication to method
2020-11-11 20:17:52 -05:00
8616345346
ekf2: move estimator_sensor_bias publication to method
...
- only publish if there's a change in bias
- publish current estimated mag bias, including saved mag bias
2020-11-11 20:17:52 -05:00
e397cbf8bb
ekf2: move ekf_gps_drift publication to method
2020-11-11 20:17:52 -05:00
0d657c74bf
ekf2: rename publish helpers mixed case (google style guide)
2020-11-11 20:17:52 -05:00
4578b8cdcc
Update submodule ecl to latest Mon Nov 2 09:57:32 EST 2020
...
- ecl in PX4/Firmware (f87b19f31b9918f73d336d10e68d39c659037582): https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd
- ecl current upstream: https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde
- Changes: https://github/compare/48a8992caf7a95e09a5e17235133894c072b96bd...a21092804a784d012939f96cc633e7da5f5e8cde
a210928
2020-11-02 12:44:14 -05:00
a1ef4d1469
ekf2: only advertise immediately in multi-EKF mode
2020-11-01 15:48:35 -05:00
ecb462f325
ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f
2020-10-29 10:22:57 -04:00
d1af095c0b
ekf2: don't store vehicle_status_s
2020-10-29 10:22:57 -04:00
d27573b797
ekf2: don't store vehicle_land_detected_s
2020-10-29 10:22:57 -04:00
7757aeda94
ekf2: don't store sensor_selection_s copy
2020-10-29 10:22:57 -04:00
db5235b074
ekf2: avoid storing message copies
2020-10-29 10:22:57 -04:00
3f9f2c6fdf
ekf2: multi ekf supports up to 4 IMUs
2020-10-28 20:50:58 -04:00
df2f26ebdf
rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned
...
- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
- helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
2020-10-27 12:33:39 -04:00
0f411d6820
Multi-EKF support (ekf2)
...
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2020-10-27 10:56:11 -04:00
09cc3120e2
OpticalFlow: add optical flow velocity logging
...
This is important to align the flow with the IMU data and verify that
the compensation is properly done
2020-10-26 14:10:25 -04:00
d985887468
ekf2: use new Param<> reset method
2020-10-15 08:32:05 +02:00
98c8cbb27f
ekf2: fix odom body rate sign bug
2020-09-30 11:34:37 -04:00
f1feaf45d3
EKF2: move vehicle_odometry publish to method
2020-09-28 18:34:49 -04:00
a24488328f
Move GPS blending from ekf2 to sensors module
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- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
- blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU
Co-authored-by: Jacob Crabill <jacob@volans-i.com >
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2020-09-25 23:28:31 -04:00
1141cfa7c6
ekf2_main: reduce update mag bias minimum learning time to 30s
...
120 seconds of learning time in 3D fusion mode was too long for most normal flights. The learned bias is usually really good after a shorter period and was not used to update the parameters. 30s seems to be a good compromise.
2020-09-21 15:54:24 +02:00
db25f20120
ekf2: move "using" keywords to cpp
2020-09-07 09:42:56 -04:00
e5879f1bb6
estimator_sensor_bias: add bias variance
2020-09-04 10:48:26 -04:00
c54a0ff0c7
estimator_status: add device ids for accel/baro/gyro/mag
2020-09-04 10:48:26 -04:00
20c2fe6d28
estimator messages add explicit timestamp_sample
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- timestamp is uORB publication metadata
- this allows us to see what the system saw at publication time plus the latency in estimation
2020-09-04 10:48:26 -04:00
9215fb57a2
ekf2: advertise immediately to ensure consistent uORB instance numbering
2020-09-04 10:48:26 -04:00
9ccc1db649
estimator_status split out estimator_states
2020-09-04 10:48:26 -04:00
33a7fed240
ekf2: split out header and rename
2020-09-04 10:48:26 -04:00
Daniel Agar